Title :
Synchronization control of multi-finger dexterous hand based on iterative learning control scheme
Author :
Lei Chen ; Ming-Feng Ge ; Ding-Xin He ; Zhi-Hong Guan ; Yan-Wu Wang
Author_Institution :
Coll. of Autom., Huazhong Univ. of Sci. & Technol., Wuhan, China
fDate :
May 31 2014-June 2 2014
Abstract :
In this paper, aiming at solving the synchronous problem of multi-finger dexterous hand, we introduced the iterative learning control (ILC) algorithm into the control of the system´s synchronous coupling error to ensure the synchronization between finger joints on the premise that the system have good performance. In addition, we introduce a Lyapunov-like composite energy function to analyse the stability of the system with the ILC controller. Finally a simulation is conducted to show the performance and verify that the system could achieve stability.
Keywords :
Lyapunov methods; dexterous manipulators; iterative methods; learning systems; stability; synchronisation; ILC; Lyapunov-like composite energy function; finger joints; iterative learning control scheme; multifinger dexterous hand; synchronization control; synchronous coupling error; system stability; Control systems; Couplings; Joints; Robot kinematics; Stability analysis; Synchronization; Iterative Learning Control; Lyapunov-like Function; Multi-finger; Stability; Synchronization;
Conference_Titel :
Control and Decision Conference (2014 CCDC), The 26th Chinese
Conference_Location :
Changsha
Print_ISBN :
978-1-4799-3707-3
DOI :
10.1109/CCDC.2014.6852341
